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Control Architecture of a 10 DOF Lower Limbs Exoskeleton for Gait Rehabilitation
2013
International Journal of Advanced Robotic Systems
This paper describes the control architecture of a 10 DOF (Degrees of Freedom) lower limbs exoskeleton for the gait rehabilitation of patients with gait dysfunction. The system has 4 double-acting rod pneumatic actuators (two for each leg) that control the hip and knee joints. The motion of each cylinder's piston is controlled by two proportional pressure valves, connected to both cylinder chambers. The control strategy has been specifically designed in order to ensure a proper trajectory
doi:10.5772/55032
fatcat:mjvnywjnwfh5baa3tmw2kcy2py